Percutaneous inner-ear access via an image-guided industrial robot system
| Autor: | Stephan Baron, Hubertus Eilers, Robert F. Labadie, J. L. Toennies, Ramya Balachandran, Benjamin Munske, Tobias Ortmaier, Robert J. Webster |
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| Rok vydání: | 2010 |
| Předmět: |
inner ear
Engineering Petrous apex access Simplified calibrations Image quality medicine.medical_treatment Robot positions Percutaneous inner-ear access law.invention Calibration procedure equipment design law motion Image Processing Computer-Assisted image quality Computer vision instrumentation robotics Interventional Phantoms Imaging article Image-guided methodology Robotics General Medicine Equipment Design Data fusion Brain tissue ear surgery Tracking (position) Cochlear implantation Patient safety Surgery Computer-Assisted computer assisted surgery Calibration Kalman filter-based data fusion Image-guided industrial robot systems Absolute position High-accuracy Otologic Surgical Procedures Kalman filters Robots Optical tracking systems Algorithms Robot calibration ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Image processing Sensory information Article Industrial robot Motion medicine Humans Surgical equipment ddc:610 human Simulation Computer-assisted surgery Differential robots algorithm business.industry Mechanical Engineering technology industry and agriculture Sensor fusion image processing body regions Ear Inner Cochlear implants Robot Surgery Artificial intelligence sense organs Dewey Decimal Classification::600 | Technik::610 | Medizin Gesundheit Optical tracking Information fusion business Industrial robots |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 224 (2010), Nr. 5 |
| ISSN: | 0954-4119 |
| Popis: | Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access. |
| Databáze: | OpenAIRE |
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